Design and development of a soft robot with crawling and grasping capabilities. - Marcello Calisti; Andrea Arienti; Federico Renda; Guy Levy; Binyamin Hochner; Barbara Mazzolai; Paolo Dario; Cecilia Laschi (ICRA, 2012)

A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm. - Michele Giorelli; Federico Renda; Marcello Calisti; Andrea Arienti; Gabriele Ferri 002; Cecilia Laschi (ICRA, 2012)

A general mechanical model for tendon-driven continuum manipulators. - Federico Renda; Cecilia Laschi (ICRA, 2012)

Inverse and Direct Model of a Continuum Manipulator Inspired by the Octopus Arm. - Michele Giorelli; Federico Renda; Andrea Arienti; Marcello Calisti; Matteo Cianchetti; Gabriele Ferri 002; Cecilia Laschi (Living Machines, 2012)

A feed-forward neural network learning the inverse kinetics of a soft cable-driven manipulator moving in three-dimensional space. - Michele Giorelli; Federico Renda; Gabriele Ferri 002; Cecilia Laschi (IROS, 2013)

Neural Networks Learning the Inverse Kinetics of an Octopus-Inspired Manipulator in Three-Dimensional Space. - Michele Giorelli; Federico Renda; Gabriele Ferri 002; Cecilia Laschi (Living Machines, 2013)

Dynamic Model of a Jet-Propelled Soft Robot Inspired by the Octopus Mantle. - Federico Renda; Frédéric Boyer; Cecilia Laschi (Living Machines, 2014)

Dynamic Model of a Multibending Soft Robot Arm Driven by Cables. - Federico Renda; Michele Giorelli; Marcello Calisti; Matteo Cianchetti; Cecilia Laschi (IEEE Trans. Robotics, 2014)

Poincaré Equations for Cosserat Shells: Application to Cephalopod Locomotion. - Frédéric Boyer; Federico Renda (GSI, 2015)

Locomotion and elastodynamics model of an underwater shell-like soft robot. - Federico Renda; Francesco Giorgio-Serchi; Frédéric Boyer; Cecilia Laschi (ICRA, 2015)

A Multi-soft-body Dynamic Model for Underwater Soft Robots. - Federico Renda; Francesco Giorgio-Serchi; Frédéric Boyer; Cecilia Laschi; Jorge Dias 001; Lakmal D. Seneviratne (ISRR (1), 2015)

Neural Network and Jacobian Method for Solving the Inverse Statics of a Cable-Driven Soft Arm With Nonconstant Curvature. - Michele Giorelli; Federico Renda; Marcello Calisti; Andrea Arienti; Gabriele Ferri 002; Cecilia Laschi (IEEE Trans. Robotics, 2015)

Learning Global Inverse Statics Solution for a Redundant Soft Robot. - Thomas George Thuruthel; Egidio Falotico; Matteo Cianchetti; Federico Renda; Cecilia Laschi (ICINCO (2), 2016)

Discrete Cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears. - Federico Renda; Vito Cacucciolo; Jorge Manuel Miranda Dias; Lakmal D. Seneviratne (IROS, 2016)

Modelling the Nonlinear Response of Fibre-reinforced Bending Fluidic Actuators. - Vito Cacucciolo; Federico Renda; Ernesto Poccia; Cecilia Laschi; Matteo Cianchetti (CoRR, 2016)

Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics. - Federico Renda; Frédéric Boyer; Jorge Manuel Miranda Dias; Lakmal D. Seneviratne (CoRR, 2017)

Poincaré's Equations for Cosserat Media: Application to Shells. - Frédéric Boyer; Federico Renda (J. Nonlinear Sci., 2017)

A Geometric and Unified Approach for Modeling Soft-Rigid Multi-Body Systems with Lumped and Distributed Degrees of Freedom. - Federico Renda; Lakmal D. Seneviratne (ICRA, 2018)

A unified multi-soft-body dynamic model for underwater soft robots. - Federico Renda; Francesco Giorgio-Serchi; Frédéric Boyer; Cecilia Laschi; Jorge Dias 001; Lakmal D. Seneviratne (Int. J. Robotics Res., 2018)

Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity. - Irfan Hussain; Federico Renda; Zubair Iqbal; Monica Malvezzi; Gionata Salvietti; Lakmal D. Seneviratne; Dongming Gan; Domenico Prattichizzo (IEEE Robotics Autom. Lett., 2018)

Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics. - Federico Renda; Frédéric Boyer; Jorge Dias 001; Lakmal D. Seneviratne (IEEE Trans. Robotics, 2018)

Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity. - Marcello Calisti; Francesco Giorgio-Serchi; Cesare Stefanini; Madiha Farman; Irfan Hussain; Costanza Armanini; Dongming Gan; Lakmal D. Seneviratne; Federico Renda (IROS, 2019)

Design and Prototype of Supernumerary Robotic Finger (SRF) Inspired by Fin Ray® Effect for Patients Suffering from Sensorimotor Hand Impairment. - Irfan Hussain; Muddasar Anwar; Zubair Iqbal; Rajkumar Muthusamy; Monica Malvezzi; Lakmal D. Seneviratne; Dongming Gan; Federico Renda; Domenico Prattichizzo (RoboSoft, 2019)

Modeling and prototyping of a soft closed-chain modular gripper. - Muddasar Anwar; Toufik Al Khawli; Irfan Hussain; Dongming Gan; Federico Renda (Ind. Robot, 2019)

Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators. - Thomas George Thuruthel; Egidio Falotico; Federico Renda; Cecilia Laschi (IEEE Trans. Robotics, 2019)

First-Order Dynamic Modeling and Control of Soft Robots. - Thomas George Thuruthel; Federico Renda; Fumiya Iida (Frontiers Robotics AI, 2020)

Design and prototyping soft-rigid tendon-driven modular grippers using interpenetrating phase composites materials. - Irfan Hussain; Oraib Al-Ketan; Federico Renda; Monica Malvezzi; Domenico Prattichizzo; Lakmal D. Seneviratne; Rashid K. Abu Al-Rub; Dongming Gan (Int. J. Robotics Res., 2020)

A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation. - Federico Renda; Costanza Armanini; Vincent Lebastard; Fabien Candelier; Frédéric Boyer (IEEE Robotics Autom. Lett., 2020)

ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and differential mechanism for versatile and delicate grasping. - Anup Teejo Mathew; Irfan Hussain; Cesare Stefanini; Ikhlas Mohamed Ben Hmida; Federico Renda (RoboSoft, 2021)

SoRoSim: a MATLAB Toolbox for Soft Robotics Based on the Geometric Variable-strain Approach. - Anup Teejo Mathew; Ikhlas Mohamed Ben Hmida; Costanza Armanini; Frédéric Boyer; Federico Renda (CoRR, 2021)

Soft Robots Modeling: a Literature Unwinding. - Costanza Armanini; Conor Messer; Anup Teejo Mathew; Frédéric Boyer; Christian Duriez; Federico Renda (CoRR, 2021)

Compliant gripper design, prototyping, and modeling using screw theory formulation. - Irfan Hussain; Monica Malvezzi; Dongming Gan; Zubair Iqbal; Lakmal D. Seneviratne; Domenico Prattichizzo; Federico Renda (Int. J. Robotics Res., 2021)

Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots. - Yinoussa Adagolodjo; Federico Renda; Christian Duriez (IEEE Robotics Autom. Lett., 2021)

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. - Federico Renda; Conor Messer; D. Caleb Rucker; Frédéric Boyer (IEEE Robotics Autom. Lett., 2021)

Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger. - Costanza Armanini; Irfan Hussain; Muhammad Zubair Iqbal; Dongming Gan; Domenico Prattichizzo; Federico Renda (IEEE Trans. Robotics, 2021)

Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach. - Frédéric Boyer; Vincent Lebastard; Fabien Candelier; Federico Renda (IEEE Trans. Robotics, 2021)

CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. - Conor Messer; Anup Teejo Mathew; Nenad Mladenovic; Federico Renda (RoboSoft, 2022)

Model-Based Design Optimization of Underwater Flagellate Propellers. - Costanza Armanini; Aysha Ali Alshehhi; Anup Teejo Mathew; Ikhlas Mohamed Ben Hmida; Cesare Stefanini; Federico Renda (IEEE Robotics Autom. Lett., 2022)

Geometrically-Exact Inverse Kinematic Control of Soft Manipulators With General Threadlike Actuators' Routing. - Federico Renda; Costanza Armanini; Anup Teejo Mathew; Frédéric Boyer (IEEE Robotics Autom. Lett., 2022)

Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization. - Costanza Armanini; Madiha Farman; Marcello Calisti; Francesco Giorgio-Serchi; Cesare Stefanini; Federico Renda (IEEE Trans. Robotics, 2022)

Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots. - Ahmad AlAttar; Ikhlas Mohamed Ben Hmida; Federico Renda; Petar Kormushev (RoboSoft, 2023)

Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone. - AbdulAziz Y. AlKayas; Daniel Feliú Talegon; Anup Teejo Mathew; D. Caleb Rucker; Federico Renda (RoboSoft, 2023)

Dynamics of Suspended Cable Driven Parallel Robots Using the Geometric Variable Strain Approach. - Anup Teejo Mathew; Ikhlas Mohamed Ben Hmida; Suad Alhaj Mustafa; Ahmed Nader Ahmed; Rashid K. Abu Al-Rub; Bashar El-Khasawneh; Federico Renda (RoboSoft, 2023)

On the Collocated Form with Input Decoupling of Lagrangian Systems. - Pietro Pustina; Cosimo Della Santina; Frédéric Boyer; Alessandro De Luca 001; Federico Renda (CoRR, 2023)

Discrete Cosserat Static Model-Based Control of Soft Manipulator. - Haihong Li; Lingxiao Xun; Gang Zheng 002; Federico Renda (IEEE Robotics Autom. Lett., 2023)

Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories. - Frédéric Boyer; Vincent Lebastard; Fabien Candelier; Federico Renda; Mazen Alamir (IEEE Trans. Robotics, 2023)

Soft Robots Modeling: A Structured Overview. - Costanza Armanini; Frédéric Boyer; Anup Teejo Mathew; Christian Duriez; Federico Renda (IEEE Trans. Robotics, 2023)

SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach. - Anup Teejo Mathew; Ikhlas Mohamed Ben Hmida; Costanza Armanini; Frédéric Boyer; Federico Renda (IEEE Robotics Autom. Mag., 2023)

Predicting Interaction Shape of Soft Continuum Robots using Deep Visual Models. - Yunqi Huang; AbdulAziz Y. AlKayas; Jialei Shi; Federico Renda; Helge A. Wurdemann; Thomas George Thuruthel (IROS, 2024)

Strain-based Modeling of Rod-driven Soft Continuum Robots with Co-located Embedded Sensors. - Peiyi Wang; Daniel Feliú Talegon; Sheng Guo 001; Federico Renda; Cecilia Laschi (IROS, 2024)

Inverse Dynamics Modeling as a State Estimation Aid for Underwater Robots Navigation. - Mohammed El Hanbaly; Saverio Iacoponi; Andrea Infanti; Cesare Stefanini; Giulia De Masi; Federico Renda (IEEE Access, 2024)

Underwater Human-Robot and Human-Swarm Interaction: A Review and Perspective. - Sara Aldhaheri; Federico Renda; Giulia De Masi (CoRR, 2024)

Wireless teleoperation of HSURF artificial fish in complex paths. - Saverio Iacoponi; Nikita Mankovskii; Mohammed El Hanbaly; Andrea Infanti; Shamma Alhajeri; Federico Renda; Cesare Stefanini; Giulia De Masi (CoRR, 2024)

Rod models in continuum and soft robot control: a review. - Carlo Alessi; Camilla Agabiti; Daniele Caradonna; Cecilia Laschi; Federico Renda; Egidio Falotico (CoRR, 2024)

Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots. - Anup Teejo Mathew; Frédéric Boyer; Vincent Lebastard; Federico Renda (CoRR, 2024)

Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat. - Yuchen Sun; Anup Teejo Mathew; Imran Afgan; Federico Renda; Cecilia Laschi (CoRR, 2024)

Dynamics and Control of Soft Robots With Implicit Strain Parametrization. - Federico Renda; Anup Teejo Mathew; Daniel Feliú Talegon (IEEE Robotics Autom. Lett., 2024)

Implicit Time-Integration Simulation of Robots With Rigid Bodies and Cosserat Rods Based on a Newton-Euler Recursive Algorithm. - Frédéric Boyer; Andrea Gotelli; Philipp Tempel; Vincent Lebastard; Federico Renda; Sébastien Briot (IEEE Trans. Robotics, 2024)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics. - Pietro Pustina; Cosimo Della Santina; Frédéric Boyer; Alessandro De Luca 001; Federico Renda (IEEE Trans. Robotics, 2024)

Soft Vision-Based Tactile-Enabled SixthFinger: Advancing Daily Objects Manipulation for Stroke Survivors. - Basma B. Hasanen; Mashood M. Mohsan; AbdulAziz Y. AlKayas; Federico Renda; Irfan Hussain (RoboSoft, 2025)

Modelling and Design Optimization of a Soft-exosuit for Wearable Assistive Devices. - Mohamed Irfan Mohamed Refai; AbdulAziz Y. AlKayas; Anup Teejo Mathew; Federico Renda; Thomas George Thuruthel (RoboSoft, 2025)

Boundary Control Behaviors of Multiple Low-Cost AUVs Using Acoustic Communication. - Mohammed Tarnini; Saverio Iacoponi; Andrea Infanti; Cesare Stefanini; Giulia De Masi; Federico Renda (IEEE Access, 2025)

Enhancing collaboration in uncertain environment: Multi-Agent Reinforcement Learning for underwater monitoring. - Alberto Luvisutto; Antonio Celani; Federico Renda; Cesare Stefanini; Giulia De Masi (Expert Syst. Appl., 2025)

Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization. - Anup Teejo Mathew; Daniel Feliú Talegon; AbdulAziz Y. AlKayas; Frédéric Boyer; Federico Renda (Int. J. Robotics Res., 2025)

Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review. - Zixi Chen; Federico Renda; Alexia Le Gall; Lorenzo Mocellin; Matteo Bernabei; Théo Dangel; Gastone Ciuti; Matteo Cianchetti; Cesare Stefanini (IEEE Trans Autom. Sci. Eng., 2025)

Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization. - AbdulAziz Y. AlKayas; Anup Teejo Mathew; Daniel Feliú Talegon; Ping Deng; Thomas George Thuruthel; Federico Renda (IEEE Trans. Robotics, 2025)

Trident: A Multi-Functional Soft Appendage for Underwater Locomotion and Grasping. - Aysha Ali Alshehhi; Costanza Armanini; Anup Teejo Mathew; Daniel Feliú Talegon; Federico Renda (IEEE Robotics Autom. Lett., 2025)

Dynamic Shape Estimation of Tendon-Driven Soft Manipulators via Actuation Readings. - Daniel Feliú Talegon; Anup Teejo Mathew; AbdulAziz Y. AlKayas; Yusuf Abdullahi Adamu; Federico Renda (IEEE Robotics Autom. Lett., 2025)

Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots. - Azouaou Ouyoucef; Quentin Peyron; Vincent Lebastard; Federico Renda; Gang Zheng 002; Frédéric Boyer (IEEE Robotics Autom. Lett., 2025)

ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration. - Anup Teejo Mathew; Daniel Feliú Talegon; Yusuf Abdullahi Adamu; Ikhlas Mohamed Ben Hmida; Costanza Armanini; Cesare Stefanini; Lakmal D. Seneviratne; Federico Renda (CoRR, 2025)

Dynamic Manipulation of Deformable Objects in 3D: Simulation, Benchmark and Learning Strategy. - Guanzhou Lan; Yuqi Yang; Anup Teejo Mathew; Feiping Nie 001; Rong Wang 001; Xuelong Li 001; Federico Renda; Bin Zhao 001 (CoRR, 2025)

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects. - Zixi Chen; Di Wu; Qinghua Guan; David Hardman; Federico Renda; Josie Hughes; Thomas George Thuruthel; Cosimo Della Santina; Barbara Mazzolai; Huichan Zhao; Cesare Stefanini (CoRR, 2025)

Learning User Interaction Forces using Vision for a Soft Finger Exosuit. - Mohamed Irfan Mohamed Refai; AbdulAziz Y. AlKayas; Anup Teejo Mathew; Federico Renda; Thomas George Thuruthel (CoRR, 2025)

3-Axis Angular Strain Estimation With Hall Effect Sensors for Proprioception of Soft Robotic Manipulators. - Yusuf Abdullahi Adamu; Daniel Feliú Talegon; Anup Teejo Mathew; Federico Renda (IEEE Robotics Autom. Lett., 2025)